DescriptionManufacturing systems suffer from the limitation of the workspace. This limitation -due dimensions of the available workspace- increases by enlarging the dimensions of machine-tools for the volumnious or slender parts' fabrication in 3D printing or CNC machining (i.e. aircraft fuselage, wind turbine propeller etc.). Regardless of the size of a machine tool, an infrastructure on the shop-floor is another important constraint for machining or 3D printing. Instead of striving to fabricate parts within these troubling constrains, we conjured up an idea of an agile and bio-inspired robot. In order to keep the solution simple and utilitarian, we plan our initial efforts as a semi-reactive and mobile robotic system which requires computations to couple between the input geometry (e.g. a computer aided design file) to the robot's control for utilizing the digital manufacturing. This thesis presents a pre-computation and simulation tool for mobile digital manufacturing platform. This software platform is specifically developed for a hex-legged robot –Siemens' Spiders [SiSpis]. In thesis, we also emphasize the details of the robot's design; mathematical and physical aspects for the main software algorithms. This software produce Gcode output –fabrication commands– in order to move robot's body center and the robot's arm as needed. We also highlight our future work about the robot's operating system that imports the G-Code commands and use those commands to control the body and arm; to locate the robot in global and local space.